A tactile sensor array that also grasps objects

摘要

This paper describes a project aimed at developing a robotic tactile sensor system that can also manipulate objects. The usual approach to the problem of touch mediated (haptic) grasping and manipulation is to develop a highly complex dexterous gripper and then to attempt to retrofit a tactile sensing capability. This approach has not proved particularly successful and so in this project the priorities have been reversed to seek a better solution. A compliant palm-like tactile sensor array has been developed and then simple fingers added to provide a limited capability for grasping and manipulation. The tactile sensor array is made up of 80 sensory tiles each incorporating a separate microcontroller. When attached to a SIR 1 robotic manipulator arm the sensory gripper can locate and pick up objects using touch sensory information. 1